diff options
Diffstat (limited to 'src/modules/uORB/uORB.cpp')
| -rw-r--r-- | src/modules/uORB/uORB.cpp | 125 |
1 files changed, 115 insertions, 10 deletions
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp index 764e33179..b4f81d429 100644 --- a/src/modules/uORB/uORB.cpp +++ b/src/modules/uORB/uORB.cpp @@ -684,6 +684,8 @@ namespace ORBDevMaster *g_dev; bool pubsubtest_passed = false; +bool pubsubtest_print = false; +int pubsubtest_res = OK; struct orb_test { int val; @@ -693,6 +695,22 @@ struct orb_test { ORB_DEFINE(orb_test, struct orb_test); ORB_DEFINE(orb_multitest, struct orb_test); +struct orb_test_medium { + int val; + hrt_abstime time; + char junk[64]; +}; + +ORB_DEFINE(orb_test_medium, struct orb_test_medium); + +struct orb_test_large { + int val; + hrt_abstime time; + char junk[512]; +}; + +ORB_DEFINE(orb_test_large, struct orb_test_large); + int test_fail(const char *fmt, ...) { @@ -727,21 +745,44 @@ int pubsublatency_main(void) float latency_integral = 0.0f; /* wakeup source(s) */ - struct pollfd fds[1]; + struct pollfd fds[3]; - int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_multitest), 0); + int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0); + int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0); + int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0); + + struct orb_test_large t; + + /* clear all ready flags */ + orb_copy(ORB_ID(orb_test), test_multi_sub, &t); + orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t); + orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t); fds[0].fd = test_multi_sub; fds[0].events = POLLIN; + fds[1].fd = test_multi_sub_medium; + fds[1].events = POLLIN; + fds[2].fd = test_multi_sub_large; + fds[2].events = POLLIN; - struct orb_test t; + const unsigned maxruns = 1000; + unsigned timingsgroup = 0; - const unsigned maxruns = 10; + unsigned *timings = new unsigned[maxruns]; for (unsigned i = 0; i < maxruns; i++) { /* wait for up to 500ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500); - orb_copy(ORB_ID(orb_multitest), test_multi_sub, &t); + if (fds[0].revents & POLLIN) { + orb_copy(ORB_ID(orb_test), test_multi_sub, &t); + timingsgroup = 0; + } else if (fds[1].revents & POLLIN) { + orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t); + timingsgroup = 1; + } else if (fds[2].revents & POLLIN) { + orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t); + timingsgroup = 2; + } if (pret < 0) { warn("poll error %d, %d", pret, errno); @@ -750,17 +791,46 @@ int pubsublatency_main(void) hrt_abstime elt = hrt_elapsed_time(&t.time); latency_integral += elt; + timings[i] = elt; } orb_unsubscribe(test_multi_sub); + orb_unsubscribe(test_multi_sub_medium); + orb_unsubscribe(test_multi_sub_large); + + if (pubsubtest_print) { + char fname[32]; + sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup); + FILE *f = fopen(fname, "w"); + if (f == NULL) { + warnx("Error opening file!\n"); + return ERROR; + } + + for (unsigned i = 0; i < maxruns; i++) { + fprintf(f, "%u\n", timings[i]); + } + + fclose(f); + } + + delete[] timings; warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns)); pubsubtest_passed = true; - return OK; + if (static_cast<float>(latency_integral / maxruns) > 30.0f) { + pubsubtest_res = ERROR; + } else { + pubsubtest_res = OK; + } + + return pubsubtest_res; } +template<typename S> int latency_test(orb_id_t T, bool print); + int test() { @@ -874,6 +944,25 @@ test() if (prio != ORB_PRIO_MIN) return test_fail("prio: %d", prio); + if (OK != latency_test<struct orb_test>(ORB_ID(orb_test), false)) + return test_fail("latency test failed"); + + return test_note("PASS"); +} + +template<typename S> int +latency_test(orb_id_t T, bool print) +{ + S t; + t.val = 308; + t.time = hrt_absolute_time(); + + int pfd0 = orb_advertise(T, &t); + + pubsubtest_print = print; + + pubsubtest_passed = false; + /* test pub / sub latency */ int pubsub_task = task_spawn_cmd("uorb_latency", @@ -885,20 +974,22 @@ test() /* give the test task some data */ while (!pubsubtest_passed) { - t.val = 303; + t.val = 308; t.time = hrt_absolute_time(); - if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t)) + if (OK != orb_publish(T, pfd0, &t)) return test_fail("mult. pub0 timing fail"); /* simulate >800 Hz system operation */ usleep(1000); } + close(pfd0); + if (pubsub_task < 0) { return test_fail("failed launching task"); } - return test_note("PASS"); + return pubsubtest_res; } int @@ -956,12 +1047,26 @@ uorb_main(int argc, char *argv[]) return test(); /* + * Test the latency. + */ + if (!strcmp(argv[1], "latency_test")) { + + if (argc > 2 && !strcmp(argv[2], "medium")) { + return latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true); + } else if (argc > 2 && !strcmp(argv[2], "large")) { + return latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true); + } else { + return latency_test<struct orb_test>(ORB_ID(orb_test), true); + } + } + + /* * Print driver information. */ if (!strcmp(argv[1], "status")) return info(); - errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'"); + errx(-EINVAL, "unrecognized command, try 'start', 'test', 'latency_test' or 'status'"); } /* |